CN108195384A - A kind of way point indicating means based on outdoor scene towards low flyer - Google Patents
A kind of way point indicating means based on outdoor scene towards low flyer Download PDFInfo
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- CN108195384A CN108195384A CN201611123374.8A CN201611123374A CN108195384A CN 108195384 A CN108195384 A CN 108195384A CN 201611123374 A CN201611123374 A CN 201611123374A CN 108195384 A CN108195384 A CN 108195384A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The present invention provides a kind of way point indicating means based on outdoor scene towards low flyer, which is characterized in that includes the following steps：Step 1 specifies way point relative flight device real-time position information to resolve：According to aircraft real time position, aircraft real time position includes real-time geographical locations, height, posture, course information；Specified way point information, including geographical location information, elevation information；The real-time relative position relation of the specified way point relative flight device machine nose position is calculated, the relative angle including real-time relative distance and the opposite machine nose pointing direction of Relative vertical distance, real-time relative distance includes relative rectilinear distance, relative level distance.
Description
Technical field
The invention belongs to the field of navigation technology of aircraft, and in particular to during low flyer flight the guide of way point and
Flight bootstrap technique helps to promote the context-aware of low flyer driver, helps to improve the operation of such aircraft
Safety and operational efficiency.
Background technology
The operation of aircraft is flown based on scheduled way point or scheduled target.Traditional way point instruction
Method is by navigation indicator or the display Lateral Navigation information of the page and vertical navigation information realization.
Lateral Navigation method：The aircraft geographical location information collected according to aircraft sensor or other means or combination
The map of satellite look angle, with the real-time flight state of satellite angle viewing aircraft, to show 360 ° or 70 ° centered on aircraft
Or 90 ° of compass, and according to compass scale and way point relative to the information of the horizontal position mark way point of aircraft.This method,
It is only capable of the horizontal position relationship of mark way point relative flight device.
Vertical navigation method：According to the aircraft geographical location information that aircraft sensor or other means are collected, base area
Database information is managed, display aircraft presses predetermined air route to the profile information of navigation spots.This method be only capable of displaying Aircraft waypoint with
The vertically opposite relationship of aircraft.
When traditional aircraft is run, above two method need to be used in combination by driver, and ability is translated by human brain
And obtain position relationship of the way point with respect to aircraft.In low latitude during complexity airspace operation, special such as large size city complicated ground
When environment low latitude is run, driver need to will translate obtained way point information, and geographical in kind corresponding to understand in time
Flight information, to be prejudged to air route situation.But due to traditional navigation spots indicating means, it is impossible to intuitively air route be clicked through
Row instruction, needs operating personnel to translate the information of acquisition, in the letter geographical out of my cabin that position is presently in reference to aircraft
Breath to obtain real-time relative position of the way point with respect to the machine, increases so as to cause pilot work load, increases driver
The risk of error in judgement.
Invention content
The goal of the invention of the present invention is to provide a kind of way point guidance method based on outdoor scene, be navigated with solving existing low latitude
When pocket is run, way point indicates non-intuitive defect.
The object of the invention is achieved through the following technical solutions：
Step 1 specifies way point relative flight device real-time position information to resolve：According to the real-time geographical locations of aircraft,
Highly, the information such as posture, course specify the information such as way point geographical location information, height, calculate the way point relative flight device
The real-time relative position relation of machine nose position, including real-time relative distance, (relative rectilinear distance, is hung down at relative level distance relatively
Straight distance), relative angle of opposite machine nose pointing direction etc..
Step 2 acquires sensor control instruction from aircraft to specified way point directional image：According to institute in step 1
The enforcing location information of the specified way point relative flight device obtained resolves the control instruction of airborne imaging sensor；By this
Control instruction, control imaging sensor the visual field central axis direction in real time with by aircraft machine nose to specified way point direction phase
With or be maintained within a certain error range so that passed always in image by the scenery in aircraft machine nose to specified way point direction
In the visual field of sensor.
Preferably, generated control instruction so that position of the way point in the imaging sensor visual field, it can be according to step
The position relationship obtained relative to body is resolved in one, relative visual field center generates certain deviation in corresponding direction.
Step 3, image acquiring sensor acquisition realtime graphic：According to step 2 " from aircraft to specified way point direction
The control instruction of acquired onboard image sensor, controls airborne imaging sensor in image acquiring sensor control instruction "
Always it towards specified way point direction, and acquires from aircraft to the realtime graphic in specified way point direction.
Preferably, step 2 is resolved from aircraft to specified way point direction calculating machine composograph control instruction：According to
Obtain the real-time latitude and longitude information of aircraft, flying height, flight attitude such as roll angle, pitch angle and aircraft course etc.
Information according to the position of the specified way point relative flight device obtained in step 1, is resolved and is synthesized needed for outer scenery picture
Control parameter, the control needed for the composite calulations machine composographs such as observation location parameter, viewing angle parameter including composograph
Parameter processed.
Preferably, generated control instruction so that way point, can be according in step 1 in position in the composite image
It is vectorial to way point to way point vector and aircraft longitudinal axis relative angle, aircraft center of gravity to resolve the aircraft center of gravity obtained
With aircraft lateral axis relative angle, the position at relative visual field center generates the certain proportion deviation of respective direction.
Preferably, step 3, computer generate composograph in real time：According to the map database information of current landform, with
And it is obtained according to from preferred steps two " being resolved from aircraft to specified way point direction calculating machine composograph control instruction "
The computer composograph control parameter taken is generated the computer that specified way point direction is observed by aircraft by computer in real time
Composograph.
Preferably, step 2 acquires sensor control instruction from aircraft to specified way point directional image and from flight
Device to specified way point direction calculating machine composograph control instruction resolves：It is carried out at the same time aforementioned step two and preferred step
Two.
Preferably, step 3, image acquiring sensor acquisition realtime graphic and computer generate composograph in real time：Simultaneously
Carry out aforementioned step three and preferred step 3.
Step 4, computer generate the real-time identification image in the air route：According to aircraft current flight real time position, height
The information such as degree, posture, with reference to aircraft real-time flight state, calculating aircraft arrives at the shortest time of the way point.According to receipts
Collect fixed obstacle information between obtained aircraft and specified way point in the certain area of most short flight path and non-solid
Determine obstacle information, judge whether the barrier to constitute a threat to aircraft flight.If it is formed in the presence of to aircraft flight
The barrier of threat, according to the information of the location information of aircraft and barrier itself, calculating aircraft and barrier it is real-time
Relative distance, minimum collision time etc..Computer draws the specified way point according to scheduled instruction icon method for drafting
It indicates icon, and is superimposed the information such as the real-time relative position of aircraft and the specified way point, most short arrival time；If in the presence of pair
The barrier that aircraft flight constitutes a threat to, also by the real-time relative distance for being superimposed aircraft and barrier, minimum collision when
Between etc. information.
It preferably, can also be according to the current operation of aircraft during if in the presence of the barrier to constitute a threat to aircraft flight
State, the information of barrier are superimposed next step suggestion for operation information according to Robot dodge strategy.
Step 5, image superposition：The finger of the specified way point that the image that step 3 is exported is generated with step 4
Diagram logo image is overlapped；Wherein, the instruction icon of the specified way point generated in step 4 is superimposed the specified way point
Corresponding position in step 3 exports image, step 3 export other regions of image and are not superimposed any image information.
The personnel's identification easy to operation of the area of instruction icon and read the parameter information shown, and just that the step of be superimposed four is produced
Recognizing this in operating personnel specifies way point to obtain the position in image after superposition.Horizontal plane in the image being superimposed with it is true
Real ground level is parallel.
Preferably, the instruction icon of the specified way point that the above-mentioned image for being exported step 3 is generated with step 4
When image is overlapped, if can obtain simultaneously from aircraft to the realtime graphic in specified way point direction and by referring to from aircraft
Determine the computer composograph in way point direction, be then overlapped this figure, be somebody's turn to do with what step 4 step 4 was generated
The instruction icon image of specified way point is overlapped.
Preferably, it the horizontal plane in above-mentioned be superimposed image or can be adjusted according to demand.
Step 6, image output：The image information that abovementioned steps are generated, exports to the supervision equipment of driver.
Compared with prior art, the beneficial effects of the present invention are：By the surrounding geographical information of navigation spots and navigation spots
With reference to due to the barrier of fusion so that aircraft operation personnel in time, accurately understand real-time between the machine and navigation spots
Status information improves location aware of the aircraft pilot to navigation spots.
Description of the drawings
Fig. 1 is flow diagram of the present invention.
Specific embodiment
The present invention is described further below in conjunction with the accompanying drawings.Protection scope of the present invention is not limited to following embodiments.
Step 1, aircraft obtain the real-time latitude and longitude information of aircraft, flying height flies by the sensor of itself
Row posture such as roll angle, pitch angle and aircraft course etc..According to way point latitude and longitude information, height default or specify,
Resolve real-time relative level distance, the vertical range of way point relative flight device, aircraft center of gravity to way point vector and flight
Device longitudinal axis relative angle, aircraft center of gravity to way point vector and aircraft lateral axis relative angle.
Step 2, it is opposite with aircraft longitudinal axis to way point vector according to the aircraft center of gravity that acquisition is resolved in step 1
Angle, aircraft center of gravity to way point vector and aircraft lateral axis relative angle, calculate airborne image sensor operation mechanism
Rotation control instruction, control image sensor field of view central shaft are directed toward way point direction or keep certain deviation always.
Preferably, generated control instruction so that position of the way point in the imaging sensor visual field, it can be according to step
The aircraft center of gravity obtained is resolved in one to way point vector and aircraft longitudinal axis relative angle, aircraft center of gravity to way point
Vector and aircraft lateral axis relative angle, the position at relative visual field center generate the certain proportion deviation of respective direction.Such as air route
When point is below the plane being made of the body longitudinal axis and horizontal axis and in body vertical shaft negative direction, then way point is in image sensing
The certain position of the lower section in the device visual field；Way point is at the plane right being made of the body longitudinal axis and vertical shaft and in body horizontal axis
During positive direction, then way point is in the certain position of the right in the imaging sensor visual field.
Step 3, onboard image sensor acquire the image in the visual field in real time.
Preferably, step 2, according to the acquisition real-time latitude and longitude information of aircraft, flying height, flight attitude such as roll
The real-time of the way point relative flight device of acquisition is resolved in the information such as angle, pitch angle and aircraft course and step 1
Relative level distance, vertical range, aircraft center of gravity to way point vector and aircraft longitudinal axis relative angle, aircraft center of gravity are extremely
Way point vector and aircraft lateral axis relative angle, resolve the control parameter synthesized needed for outer scenery picture so that way point exists
The center of final image.
Preferably, generated control instruction so that way point, can be according in step 1 in position in the composite image
It is vectorial to way point to way point vector and aircraft longitudinal axis relative angle, aircraft center of gravity to resolve the aircraft center of gravity obtained
With aircraft lateral axis relative angle, the position at relative visual field center generates the certain proportion deviation of respective direction.As way point exists
When below the plane that is made of the body longitudinal axis and horizontal axis and in body vertical shaft negative direction, then the way point heart in the composite image
Lower section certain position；Way point is at the plane right being made of the body longitudinal axis and vertical shaft and in body horizontal axis positive direction
When, then the certain position of the way point right of the heart in the composite image.
Preferably, step 3, the acquired calculating according to the map database information of current landform and from step 2
Machine composograph control parameter is generated the computer composite diagram that specified way point direction is observed by aircraft by computer in real time
Picture.
Preferably, step 2, according to the acquisition real-time latitude and longitude information of aircraft, flying height, flight attitude such as roll
The real-time of the way point relative flight device of acquisition is resolved in the information such as angle, pitch angle and aircraft course and step 1
Relative level distance, vertical range, aircraft center of gravity to way point vector and aircraft longitudinal axis relative angle, aircraft center of gravity are extremely
Way point vector and aircraft lateral axis relative angle, resolve from aircraft to the specified airborne image acquiring sensor in way point direction
Control instruction and from aircraft to specified way point direction calculating machine composograph control instruction.
Preferably, step 3, according in step 2 generate onboard image acquisition sensor control instruction and from aircraft to
Specified way point direction calculating machine composograph control instruction, acquisition realtime graphic, generation includes way point geographic pattern in real time
Computer composograph.
Step 4, according to information such as aircraft current flight real time position, height, postures, with reference to aircraft real-time flight
State, calculating aircraft arrive at the shortest time of the way point.Between the aircraft and specified way point that are obtained according to collection most
Fixed obstacle information and loose impediment information in the certain area of short flight path, judge whether to aircraft
Fly the barrier to constitute a threat to.If in the presence of the barrier to constitute a threat to aircraft flight, according to the location information of aircraft
With the information of barrier itself, the real-time relative distance of calculating aircraft and barrier, minimum collision time etc..Computer root
According to scheduled instruction icon method for drafting, the instruction icon of the specified way point is drawn, and is superimposed aircraft and the specified air route
Real-time relative position, the information such as most short arrival time of point；It if, will also be folded in the presence of the barrier to constitute a threat to aircraft flight
Add the information such as the real-time relative distance of aircraft and barrier, minimum collision time.
It preferably, can also be according to the current operation of aircraft during if in the presence of the barrier to constitute a threat to aircraft flight
State, the information of barrier are superimposed next step suggestion for operation information according to Robot dodge strategy.
Step 5, the instruction icon image of the specified way point that the image that step 3 is exported is generated with step 4
It is overlapped；Wherein, the instruction icon of the specified way point generated in step 4 is superimposed the specified way point in step 3 institute
The corresponding position in image is exported, step 3 exports other regions of image and is not superimposed any image information.The step being superimposed
The personnel's identification easy to operation of rapid four areas of instruction icon produced and the parameter information for reading display, and personnel easy to operation
Recognizing this specifies way point to obtain the position in image after superposition.Horizontal plane and true ground level in the image being superimposed
It is parallel.
Preferably, the instruction icon of the specified way point that the above-mentioned image for being exported step 3 is generated with step 4
When image is overlapped, if can obtain simultaneously from aircraft to the realtime graphic in specified way point direction and by referring to from aircraft
Determine the computer composograph in way point direction, be then overlapped this figure, then the specified boat generated with step 4
The instruction icon image of waypoint is overlapped.
Preferably, it the horizontal plane in above-mentioned be superimposed image or can be adjusted according to demand.
Step 6, image output：The image information that abovementioned steps are generated, exports to the supervision equipment of driver.
Claims (3)
1. a kind of way point indicating means based on outdoor scene towards low flyer, which is characterized in that include the following steps：
Step 1 specifies way point relative flight device real-time position information to resolve：According to aircraft real time position, aircraft is real-time
Position includes real-time geographical locations, height, posture, course information；Specified way point information, including geographical location information, height
Information；Calculate the real-time relative position relation of the specified way point relative flight device machine nose position, including real-time relative distance and
The relative angle of the opposite machine nose pointing direction of Relative vertical distance, real-time relative distance include relative rectilinear distance, relative level
Distance；
Step 2, real scene image acquisition, including：
2.1A is from aircraft to the airborne imaging sensor control instruction in specified way point direction：According to finger acquired in step 1
Determine the real-time position information of way point relative flight device, resolve the control instruction of airborne imaging sensor；By the control instruction,
Control the central axis direction in the visual field of airborne imaging sensor in real time with by aircraft machine nose to specified way point direction it is identical or
It is maintained within a certain error range so that by the scenery in aircraft machine nose to specified way point direction always in imaging sensor
The visual field in；
2.2A controls airborne imaging sensor acquisition realtime graphic：According to the onboard image sensor control instruction, control machine
Imaging sensor is carried always towards specified way point direction, and is acquired from aircraft to the realtime graphic in specified way point direction；
Step 3, computer generate the real-time identification image of the specified way point：According to the aircraft information, with reference to aircraft
Real-time flight state, calculating aircraft arrive at the shortest time of the way point, according to the aircraft that collection obtains and specified air route
Fixed obstacle information and loose impediment information between point in the certain area of most short flight path, judge whether
To the barrier that aircraft flight constitutes a threat to, if in the presence of the barrier to constitute a threat to aircraft flight, according to aircraft
The real-time relative distance of the information of location information and barrier itself, calculating aircraft and barrier, minimum collision time, meter
Calculation machine draws the instruction icon of the specified way point, and be superimposed aircraft and refer to this according to scheduled instruction icon method for drafting
Determine the real-time relative position of way point, most short arrival time；It if, will also be folded in the presence of the barrier to constitute a threat to aircraft flight
Add the real-time relative distance of aircraft and barrier, minimum collision time；
Step 4, image superposition：The realtime graphic and the real-time identification image are overlapped；Wherein, real-time identification figure
Instruction icon as in, the corresponding position being added in the realtime graphic, other regions of the realtime graphic are not superimposed
Any image information, the horizontal plane in the image being superimposed are parallel with true ground level；
Step 5, image output：The image information that abovementioned steps are generated, exports to the supervision equipment of driver.
2. the way point indicating means based on outdoor scene according to claim 1 towards low flyer, which is characterized in that
Step 2 further includes：Generate composograph control instruction so that specified position of the way point in computer composograph
Positioned at image center location, and there is certain deviation on its opposite machine nose deflection direction, the specific steps are：
2.1B is resolved from aircraft to specified way point direction calculating machine composograph control instruction：It is real according to aircraft is obtained
When flight information, aircraft real-time flight information include latitude and longitude information, flying height, flight attitude such as roll angle, pitch angle,
And aircraft course information, according to specified way point relative flight device real-time position information, resolve and synthesize outer scenery picture institute
The control parameter needed；
Control parameters of the 2.2B according to needed for synthesizing outer scenery picture generates computer composograph control instruction so that specified boat
Position of the waypoint in computer composograph can specify way point relative flight device machine nose position according to this is calculated in step 1
Real-time relative position relation, the relative angle including real-time relative distance and the opposite machine nose pointing direction of Relative vertical distance,
The position at relative visual field center generates the certain proportion deviation of respective direction.
3. the way point indicating means based on outdoor scene according to claim 2 towards low flyer, which is characterized in that
The realtime graphic is the computer composograph in step 2.2B by step 4, then is overlapped this figure.
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